Robotic laser osteotomy through penscriptive structured light visual servoing
| Autor: | Joel Ramjist, Jamil Jivraj, Phillips Lai, Nhu Q. Nguyen, Ryan Deorajh, Victor X. D. Yang, Chaoliang Chen |
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| Rok vydání: | 2018 |
| Předmět: |
Computer science
medicine.medical_treatment 0206 medical engineering ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Biomedical Engineering Health Informatics Image processing 02 engineering and technology Visual servoing Osteotomy 030218 nuclear medicine & medical imaging 03 medical and health sciences 0302 clinical medicine Robotic Surgical Procedures medicine Humans Radiology Nuclear Medicine and imaging Computer vision Pencil (mathematics) business.industry Orientation (computer vision) Phantoms Imaging Skull General Medicine Robotics 020601 biomedical engineering Computer Graphics and Computer-Aided Design Computer Science Applications Trajectory Robot Surgery Computer Vision and Pattern Recognition Artificial intelligence Laser Therapy business Craniotomy Structured light |
| Zdroj: | International journal of computer assisted radiology and surgery. 14(5) |
| ISSN: | 1861-6429 |
| Popis: | Planning osteotomies is a task that surgeons do as part of standard surgical workflow. This task, however, becomes more difficult and less intuitive when a robot is tasked with performing the osteotomy. In this study, we aim to provide a new method for surgeons to allow for highly intuitive trajectory planning, similar to the way an attending surgeon would instruct a junior. Planning an osteotomy, especially during a craniotomy, is performed intraoperatively using a sterile surgical pen or pencil directly on the exposed bone surface. This paper presents a new method for generating osteotomy trajectories for a multi-DOF robotic manipulator using the same method and relaying the penscribed cut path to the manipulator as a three-dimensional trajectory. The penscribed cut path is acquired using structured light imaging, and detection, segmentation, optimization and orientation generation of the Cartesian trajectory are done autonomously after minimal user input. A 7-DOF manipulator (KUKA IIWA) is able to follow fully penscribed trajectories with sub-millimeter accuracy in the target plane and perpendicular to it (0.46 mm and 0.36 mm absolute mean error, respectively). The robot is able to precisely follow cut paths drawn by the surgeon directly onto the exposed boney surface of the skull. We demonstrate through this study that current surgical workflow does not have to be drastically modified to introduce robotic technology in the operating room. We show that it is possible to guide a robot to perform an osteotomy in much the same way a senior surgeon would show a trainee by using a simple surgical pen or pencil. |
| Databáze: | OpenAIRE |
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